任意の複数ロボット間での柔軟なトピック通信システムの開発と移動ロボットの協調走行への適用

抄録

The purpose of this study is to develop a cooperative navigation system based on sharing positions among multiple mobile robots in the same environment. The proposed system uses Rowma (Robot Web Manager) that integrates any ROS-based robot systems for topic communication among robots. In the case that several ROS-based robots publish same topic names, they must be differentiated in sharing topics. The proposed system shares the topic incorporating Rowma UUID into the topic name to distinguish topics representing location information among multiple mobile robots. The cooperative navigation experiment with the proposed system was performed. In the experiment, each mobile robot can select a route to the destination according to shared positions of other robots.